Calibration of multiple 3D LiDAR sensors to a common vehicle frame

A calibration procedure for multiple 3D LiDAR sensors to a vehicle coordinate system is presented. Calibration consists of several preprocessing steps and point cloud registration by applying the Generalized Iterative Closest Point (GICP) algorithm modified with regard to the particular calibration scenario. After the extrinsic calibration of the sensors, the point cloud composed of all LiDAR measurements is calibrated to the vehicle coordinate system. The calibration reference is provided by a 3D model of the vehicle. Assuming single digit centimeter precision of the sensor data, calibration can be accomplished with single digit centimeter precision.